智能系统学报
智能繫統學報
지능계통학보
CAAI TRANSACTIONS ON INTELLIGENT SYSTEMS
2014年
3期
298-306
,共9页
王中林%刘忠信%陈增强%孙青林%吴垠%马争光
王中林%劉忠信%陳增彊%孫青林%吳垠%馬爭光
왕중림%류충신%진증강%손청림%오은%마쟁광
多智能体系统%一致性%编队控制%领航跟随%机器人%坐标旋转公式
多智能體繫統%一緻性%編隊控製%領航跟隨%機器人%坐標鏇轉公式
다지능체계통%일치성%편대공제%령항근수%궤기인%좌표선전공식
multi-agent system ( MAS)%consensus%formation control%leader-follower%robots%coordinate rotating formula
研究了基于离散时间模型的多智能体领航跟随编队控制算法。在该算法中,通过引入基于邻居的局部控制律以及基于邻居的状态估计规则设计了一种新型控制器,在该控制器中通过简单地设定跟随者和领航者之间的相对坐标即可方便地实现任意形状编队,同时该文引入了坐标旋转公式---用于实现整个队形能够随着领航者的运动方向的变化做相应旋转,且文中分别给出了固定拓扑和切换拓扑时系统稳定编队的充分条件。最后分别通过Matlab仿真和在Amigobot机器人平台上做实验来验证该算法的正确性及实际可行性。
研究瞭基于離散時間模型的多智能體領航跟隨編隊控製算法。在該算法中,通過引入基于鄰居的跼部控製律以及基于鄰居的狀態估計規則設計瞭一種新型控製器,在該控製器中通過簡單地設定跟隨者和領航者之間的相對坐標即可方便地實現任意形狀編隊,同時該文引入瞭坐標鏇轉公式---用于實現整箇隊形能夠隨著領航者的運動方嚮的變化做相應鏇轉,且文中分彆給齣瞭固定拓撲和切換拓撲時繫統穩定編隊的充分條件。最後分彆通過Matlab倣真和在Amigobot機器人平檯上做實驗來驗證該算法的正確性及實際可行性。
연구료기우리산시간모형적다지능체령항근수편대공제산법。재해산법중,통과인입기우린거적국부공제률이급기우린거적상태고계규칙설계료일충신형공제기,재해공제기중통과간단지설정근수자화령항자지간적상대좌표즉가방편지실현임의형상편대,동시해문인입료좌표선전공식---용우실현정개대형능구수착령항자적운동방향적변화주상응선전,차문중분별급출료고정탁복화절환탁복시계통은정편대적충분조건。최후분별통과Matlab방진화재Amigobot궤기인평태상주실험래험증해산법적정학성급실제가행성。
In this paper , the algorithm of formation control concerning the Leader-Follower Multi-Agent System (MAS ) based on the discrete-time model is researched .By introducing the neighbor-based local control law and the neighbor-based state estimation rules, a kind of new type controller for multi-agent leader-follower formation is de-signed.Arbitrary shape formations can be easily achieved by simply setting the follower and leader relative coordi-nates.At the same time, the coordinate rotating formula is introduced to realize the entire formation rotating accord-ingly with changes of the direction of the movement of the leader .This paper gives two sufficient conditions for the system's stable formation of fixed topology and switching topology , respectively .The correctness and the practical feasibility of this algorithm were verified through the MATLAB simulation and experiments were conducted using the Amigobot robot platform , respectively .